JP2013027228A - Electro-mechanical device, movable body using the same and robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress an eddy current loss generated in a casing of an electro-mechanical device.SOLUTION: An electro-mechanical device of the present invention comprises: a rotor that has a cylindrical magnetic back yoke and a rotor magnet cylindrically disposed along an outer periphery of the magnetic back yoke; a stator that has air core magnetic coils cylindrically disposed along an outer periphery of the rotor and a cylindrical coil back yoke disposed on an outer periphery of the magnetic coils cylindrically disposed; and a casing that covers the stator and the rotor. At least a part of the casing is formed of carbon fiber reinforced plastic.

Description

The present invention relates to an electric machine device, and a moving body and a robot using the electric machine device.

As an example of a rotating electric machine such as an electric motor or a generator (also referred to as an “electric machine device” in this specification), a rotor in which permanent magnets are arranged in a substantially cylindrical shape as a rotor magnet, and an air core (coreless) on the outer periphery of the rotor There is an inner rotor type coreless type electromechanical device including a stator in which the electromagnetic coil is arranged in a substantially cylindrical shape. Conventionally, a metal that is easy to ensure light weight, strength, heat resistance, and the like, such as an aluminum alloy, has been used for the casing of this electric machine device.

Here, the magnetic flux from the rotor magnet is basically set so as to close as a magnetic circuit inside the coil back yoke arranged on the outer periphery of the electromagnetic coil. For this reason, leakage of magnetic flux occurs on the outer peripheral side of the coil back yoke. For this reason, an eddy current is generated in the casing covering the stator on the outer periphery of the coil back yoke,
The loss due to the generated eddy current, so-called eddy current loss, hinders the improvement of the efficiency of the electromechanical device.

JP-A-10-210690 JP 2002-322978 A

The present invention has been made to solve the above-described conventional problems, and an object thereof is to provide a technique capable of suppressing eddy current loss generated in a casing of an electromechanical device.

The present invention has been made to solve the above-described problems, and can be realized as the following forms or application examples.

[Application Example 1]
An electromechanical device,
A rotor having a cylindrical magnet back yoke, and a rotor magnet disposed in a cylindrical shape along an outer peripheral surface of the magnet back yoke;
A stator having an air-core electromagnetic coil disposed in a cylindrical shape along the outer periphery of the rotor, and a cylindrical coil back yoke disposed on the outer periphery of the electromagnetic coil disposed in the cylindrical shape;
A casing covering the stator and the rotor;
With
An electromechanical device, wherein at least a part of the casing is formed of carbon fiber reinforced plastic.
The inventor has found that the carbon fiber reinforced plastic is a material that is difficult to generate eddy current despite being conductive. In the electrical machine apparatus, since at least a part of the casing covering the stator and the rotor is formed of carbon fiber reinforced plastic, eddy current loss generated in the casing can be suppressed, and the efficiency of the electromechanical apparatus is improved. It is possible to make it.

[Application Example 2]
An electromechanical device according to Application Example 1,
The casing is an electromechanical device in which a portion covering an outer peripheral portion of the coil back yoke is formed of the carbon fiber reinforced plastic.
Since most of the magnetic flux from the rotor magnet goes in the direction of the coil back yoke, in the case of the above configuration, the portion covering the outer periphery of the coil back yoke is formed of carbon fiber reinforced plastic, thereby effectively reducing eddy current loss. Therefore, the efficiency of the electromechanical device can be improved.

[Application Example 3]
An electric machine device according to Application Example 1,
The casing is an electromechanical device formed entirely of the carbon fiber reinforced plastic.
In this case, not only eddy current loss due to magnetic flux leaking from the rotor magnet to the outer peripheral side of the coil back yoke but also eddy current loss due to magnetic flux leaking in a direction other than the outer peripheral side of the coil back yoke can be suppressed. It is possible to improve the efficiency of the electromechanical device.

[Application Example 4]
The electromechanical device according to any one of Application Example 1 to Application Example 3,
An electromechanical device in which a central portion of the rotor is formed of the carbon fiber reinforced plastic.
In this case, the carbon fiber reinforced plastic is superior in lightness and rigidity compared to steel materials conventionally used as members constituting the rotor, and thus constitutes a rotor superior in lightness and rigidity compared to the conventional steel material. As a result, it is possible to configure an electromechanical device that is excellent in lightness and rigidity.

[Application Example 5]
The electromechanical device according to any one of Application Example 2 to Application Example 4,
Furthermore, an electromechanical device comprising a rotation mechanism unit housed on the inner peripheral side of the rotor and connected to the rotor.
In this case, it is possible to suppress eddy current loss that occurs in the casing of the electric machine device that includes the rotation mechanism, and it is possible to improve the efficiency of the electric machine device.

[Application Example 6]
An electric machine device according to Application Example 5,
The rotating mechanism section is an electromechanical device in which at least an interlocking rotating section that rotates in conjunction with the rotor is formed of the carbon fiber reinforced plastic.
In this case, the carbon fiber reinforced plastic is superior in lightness and rigidity compared to the steel material used as a member constituting the interlocking rotation part of the conventional rotation mechanism part. Therefore, it is possible to configure an electromechanical device including a rotating mechanism unit that is excellent in lightness, rigidity, and the like.

Note that the present invention can be realized in various forms. For example, in addition to an electric machine (rotary electric machine) such as an electric motor (motor) and a generator, an electric movable body and an electric motor using the electric machine device. It can be realized in various forms such as a mobile robot or a medical device.

It is explanatory drawing which shows the structure of the coreless motor 10 as 1st Example. It is explanatory drawing which shows an example of the measuring method of the eddy current loss which generate | occur | produces in a casing. It is explanatory drawing which compares the eddy current loss at the time of forming the casing 110 with a carbon fiber reinforced plastic, and the eddy current loss at the time of forming with aluminum. It is explanatory drawing explaining the reason why there are few eddy currents when a casing is formed with a carbon fiber reinforced plastic. It is a schematic sectional drawing which shows the structure of the coreless motor 1000 as 2nd Example. It is a schematic sectional drawing which shows the structure of the motive power generator 1100 as 3rd Example. It is a schematic sectional drawing which shows the structure of the motive power generator 1100B as 4th Example. It is explanatory drawing which shows the electric bicycle (electrically assisted bicycle) which is an example of the moving body using a motor / generator as a modification of this invention. It is explanatory drawing which shows an example of the robot using a motor as a modification of this invention. It is explanatory drawing which shows an example of the double arm 7 axis | shaft robot using a motor as a modification of this invention. It is explanatory drawing which shows the rail vehicle using a motor as a modification of this invention.

A. First embodiment:
FIG. 1 is an explanatory diagram showing a configuration of a coreless motor 10 as a first embodiment. Figure 1
FIG. 1A schematically shows a cross section of the coreless motor 10 taken along a plane parallel to the central axis 230 (1A-1A cut surface of FIG. 1B). FIG. Shaft 230
1 schematically shows a cross section taken along a plane perpendicular to the plane (1B-1B cut plane in FIG. 1A).

The coreless motor 10 is an inner rotor type motor in which a substantially cylindrical stator 15 is disposed on the outer side and a substantially cylindrical rotor 20 is disposed on the inner side. The stator 15 and the rotor 20 are accommodated in the casing 110. The stator 15 includes electromagnetic coils 100 </ b> A and 100 </ b> B and a coil back yoke 115. The rotor 20 includes a central shaft 230, a magnet back yoke 236, magnet side yokes 215 and 216, a rotor magnet 200, and a bearing 240.

The rotor 20 has a central shaft 230 that is a rotation shaft.
A substantially cylindrical magnet back yoke 236 is disposed. Six rotor magnets 200 are arranged in a substantially cylindrical shape along the outer periphery of the magnet back yoke 236. 6 rotor magnets 2
For 00, a permanent magnet magnetized in the direction (radial direction) from the center of the central axis 230 to the outside and a permanent magnet magnetized in the direction (center direction) from the outside to the center are used. The rotor magnet 200 whose magnetization direction is the central direction and the rotor magnet 20 whose magnetization direction is the radial direction
0 is alternately arranged along the circumferential direction. Magnet side yokes 215 and 21 are provided at the end of the rotor magnet 200 in the direction along the central axis 230 (hereinafter simply referred to as “axial direction”).
6 is provided. The magnet side yokes 215 and 216 are substantially disc shaped members formed of a soft magnetic material. The central shaft 230 is made of a nonmagnetic material such as carbon fiber reinforced plastic and has a through hole 239. The central shaft 230 is supported by the bearing 240 and attached to the casing 110. The bearing 240 can be constituted by, for example, a ball bearing. In the present embodiment, the wave spring washer 2 is provided inside the casing 110.
The wave spring washer 260 positions the rotor magnet 200. However, the wave spring washer 260 can be omitted.

The casing 110 is a substantially cylindrical casing. Two-phase electromagnetic coils 100A and 100B are arranged along the inner periphery of the casing. The electromagnetic coils 100A and 100B have an effective coil area and a coil end area. Here, the effective coil region is a region that applies a Lorentz force in the rotational direction to the rotor 20 when a current flows through the electromagnetic coils 100A and 100B, and the coil end region is a current that flows through the electromagnetic coils 100A and 100B. This is a region where a Lorentz force in a direction different from the rotation direction (mainly a direction perpendicular to the rotation direction) is applied to the rotor 20 when it flows. However, there are two coil end regions across the effective coil region, and the Lorentz forces cancel each other because they have the same magnitude and opposite directions. In the effective coil region, the conductor wiring constituting the electromagnetic coils 100A and 100B is in a direction substantially parallel to the rotation axis, and in the coil end region, the electromagnetic coil 10
Conductor wirings constituting 0A and 100B are parallel to the rotation direction. Further, in the effective coil region, the electromagnetic coils 100A and 100B overlap the rotor magnet 200, but in the coil end region, the electromagnetic coils 100A and 100B do not overlap the rotor magnet 200. The electromagnetic coils 100A and 100B are also collectively referred to as the electromagnetic coil 100. A coil back yoke 115 is provided between the electromagnetic coils 100 </ b> A and 100 </ b> B and the casing 110. The axial length of the coil back yoke 115 is substantially the same as the axial length of the rotor magnet 200. When radiation is drawn in the radial direction from the central axis 230 toward the coil back yoke 115, the radiation just penetrates the rotor magnet 200. That is, the coil back yoke 115 and the rotor magnet 200 overlap each other.

The stator 15 is further provided with a magnetic sensor 300 as a position sensor for detecting the phase of the rotor 20, one for each phase of the electromagnetic coils 100 </ b> A and 100 </ b> B.
In FIG. 1A, only one magnetic sensor 300 is displayed. Magnetic sensor 3
00 is fixed on the circuit board 310, and the circuit board 310 is fixed to the casing 110. Here, the magnetic sensor 300 has a central axis 230 from the coil end region.
It is arranged on the vertical line when the vertical line is dropped.

The coreless motor 10 is assembled by the following general procedure. First, rotor 2
So that one bearing 240 of 0 is attached to the second casing 110b.
Assemble 0. Next, the first casing 110a in which the electromagnetic coils 100A and 100B are arranged on the inner periphery is assembled to the second casing 110b. Then, the third bearing 240 attached to the rotor 20 is attached to the third casing 110c so as to be attached to the third casing 110c.
The casing 110c is assembled to the first casing 110a. Thereby, the coreless motor 10 is assembled.

By the way, the casing 110 which accommodates the rotor 20 and the stator 15 conventionally employ | adopted the casing manufactured using the metal which is easy to ensure lightweight, strength, heat resistance, etc., such as aluminum. However, in the present invention, lightness, thermal conductivity, heat resistance,
Carbon fiber reinforced plastic (CFRP: Carbon F) with excellent processability, productivity and price
Casing manufactured using iber Reinforced Plastics) is used. The reason for using carbon fiber reinforced plastic will be described below. The production of casings using carbon fiber reinforced plastics is made of various general molding methods such as autoclave molding, vacuum back molding, filament wind molding, hand layup molding, RTM molding, VART molding, etc. A molding method suitable for the method is appropriately selected and executed.

FIG. 2 is an explanatory diagram showing an example of a method for measuring eddy current loss generated in the casing. In Step 1, first, the loss characteristic of the standard motor 510 is measured. A coupling 530 for connecting the measured motor 10 is attached to the central shaft 520 of the standard motor 510.
In this state, the standard motor 510 is rotated at a predetermined rotation speed N, and the voltage E1 and current I1 applied to the standard motor 510 are measured. The rotation state at this time is a so-called no-load rotation state. At this time, the first total loss P1all of the standard motor 510 is E
1 × I1. The first total loss P1all is the sum of the mechanical loss P1m, the copper loss P1cu, and the iron loss P1fe. Here, the electric resistance of the electromagnetic coil of the standard motor 510 is R1.
Then, the copper loss P1cu is expressed by I1 ² × R1.

In step 2, only the rotor 20 of the measured motor 10 is connected to the standard motor 510, the standard motor 510 is rotated at the same rotational speed N as in step 1, and the standard motor 51 is rotated.
Measure voltage E2 and current I2 applied to zero. At this time, the second total loss P2all is E2 ×
I2. The second total loss P2all is obtained by adding the mechanical loss P2m of the measured motor 10 to the first total loss P1all. That is, the second total loss P2all
And the first total loss P1all (P2all-P1all) is the mechanical loss P2m of the measured motor 10.

In step 3, the casing 110 is added to the rotor 20 of the motor 10 to be measured and rotated at the same rotational speed N as in steps 1 and 2, and the voltage E3 and current I applied to the standard motor 510 are measured.
3 is measured. At this time, the total loss P3all of the standard motor 510 is E3 × I3. In addition, the total loss P3all is equal to the total loss P2all measured in Step 2 and the casing 1
The eddy current loss Peddy due to the eddy current generated at 10 is added. Here, eddy current means that when a conductor such as a metal plate (made of aluminum or the like) is moved in a strong magnetic field, or a magnetic field in the vicinity of the conductor is suddenly changed, an electromagnetic induction effect causes a change in the conductor. It is the eddy current that occurs. The eddy current loss Peddy of the measured motor 10 is (P3all-P2a
ll).

FIG. 3 is an explanatory diagram comparing the eddy current loss when the casing 110 is formed of carbon fiber reinforced plastic and the eddy current loss when the casing 110 is formed of aluminum. In the present embodiment, when the rotor 20 rotates, the rotor magnet 200 also rotates. Therefore, it is considered that the rotation (movement) of the rotor magnet 200 causes an eddy current in the casing 110 on the outer side.

Conventionally, since carbon fiber reinforced plastic has electrical conductivity, even if the casing 110 is made of carbon fiber reinforced plastic, the eddy current is considered not to be much smaller than when the casing 110 is made of metal. It was done. However, when the casing 110 was manufactured using carbon fiber reinforced plastic and the eddy current loss was measured, as shown in FIG. 3, the case where the casing 110 was formed of carbon fiber reinforced plastic was made more than the case of aluminum. However, the result (about 1/20 to about 1/2000) with very small eddy current loss was obtained.

FIG. 4 is an explanatory diagram for explaining the reason why the eddy current is small when the casing is formed of carbon fiber reinforced plastic. In the present embodiment, the casing 110 is formed by knitting the carbon fiber bundle 272A and the carbon fiber bundle 272B for the fourth stitch. Here, the carbon fiber bundle 272A is
The direction of the carbon fiber 271A is a direction parallel to the central axis 230 (FIG. 1), and the carbon fiber bundle 272
B is a direction in which the direction of the carbon fiber 271B is along the circumference of the central axis 230 (FIG. 1).

For example, the eddy current flows so as to draw a substantially circular shape in a closed path on the surface of the cylindrical surface of the first casing 110 a constituting the casing 110. First, an eddy current flowing through the carbon fiber bundle 272A is considered. Since the eddy current flows in a substantially circular path in a closed path, the carbon fiber 271A
Flows in various directions with respect to the direction of the. Here, consider a case where current flows in a direction along the carbon fiber 271A and in a direction intersecting with the carbon fiber 271A. When a current flows in a direction along the carbon fiber 271A, the electrons may move on the same carbon fiber 271A. Therefore, current is relatively easy to flow. On the other hand, when the current flows in a direction intersecting with the carbon fibers 271A, it is necessary for the electrons to move to the adjacent carbon fibers 271A through a resin that hardly allows the current to flow. Therefore, it is difficult for current to flow in the direction intersecting with the carbon fibers 271A. As described above, the eddy current flows in a closed path that draws a substantially circular shape. However, on the closed path, a current flows in a direction intersecting the carbon fiber 271A and a portion where the current flows in the direction along the carbon fiber 271A. Including parts. Here, the portion where the current flows in the direction intersecting with the carbon fiber 271A is difficult to flow as described above, and is a so-called rate-limiting (bottleneck). As for the eddy current flowing through the carbon fiber bundle 272B, the portion where the current flows in the direction intersecting with the carbon fiber 271B similarly becomes a so-called rate-limiting (bottleneck).

Further, regarding the eddy current straddling the carbon fiber bundles 272A and 272B, the carbon fiber bundle 272A
Since there is a resin between the carbon fiber 271A and the carbon fiber 271B of the carbon fiber bundle 272B, movement of electrons between the carbon fiber 271A and the carbon fiber 271B hardly occurs. Therefore, an eddy current straddling the carbon fiber bundles 272A and 272B is also difficult to flow, which is a so-called rate limiting (bottleneck). From the above, the first casing 110a formed of carbon fiber reinforced plastic has a rate limiting portion (bottleneck) in which current does not easily flow somewhere on the closed path.
Therefore, eddy current is difficult to flow. Although illustration and description are omitted, the same applies to the surfaces of the second casing 110b and the third casing 110c.
Eddy current is difficult to flow.

As described above, the reason for using carbon fiber plastic as the material of the casing 110 is as follows.
Carbon fiber reinforced plastic is excellent in light weight, thermal conductivity, heat resistance, workability, productivity, price, etc. In addition to being able to replace conventional metal materials, it reduces eddy current loss. This is because the efficiency of the coreless motor 10 can be improved.

In the present embodiment, the surface in the center direction of the rotor magnet 200 is covered with the magnet back yoke 236, and the surface in the axial direction is covered with the magnet side yokes 215 and 216. Therefore, the magnetic flux from the rotor magnet 200 to the axial direction. Leakage can be suppressed. In addition, since magnetic flux leakage toward the center of the rotor magnet can be suppressed by the magnet back yoke 236, a non-magnetic material such as carbon fiber reinforced plastic (CFRP) or glass is provided on the central shaft 230 corresponding to the center of the rotor. Resin composite materials such as glass fiber reinforced plastics (GFRP), ceramics, plant fiber materials, resin materials, and the like can be used, and the weight can be easily reduced as compared with steel materials. In particular, if carbon fiber reinforced plastic is used, not only weight reduction,
It is possible to improve the efficiency of the coreless motor 10 by being excellent in rigidity exceeding that of a steel material and reducing eddy current loss caused by a change in magnetic flux of the electromagnetic coil.

B. Second embodiment:
FIG. 5 is a schematic cross-sectional view showing a configuration of a coreless motor 1000 as the second embodiment. Unlike the rotor 20 of the first embodiment, the coreless motor 1000 includes a rotor 1121A that rotates around the central axis 230. The rotor 1121A is accommodated in the casing 1122A. The central shaft 230 has a through hole 239 extending in the axial direction, and the conductive wire bundle 1025 is inserted through the through hole 239.

The casing 1122A includes a first casing 1122a and a second casing 112.
2b has an integrated structure. The first casing 1122a is a substantially cylindrical hollow container in which one surface in the direction of the central axis 230 is opened. The second casing 1122b has a substantially circular disk shape in which an opening 1125 is formed at the center. First casing 1
A through hole 1221 for inserting the central shaft 230 is formed at the center of the bottom surface of 122a. The central shaft 230 and the first casing 1122a are fixedly attached to each other.
Note that the second casing 1122b is configured such that, for example, after the rotor 1121A is accommodated in the hollow portion of the first casing 1122a with the central axis 230 as the center, the first casing 11
It unites with 22a by bonding with an adhesive agent. At this time, the bottom surface of the rotor 1121A is disposed in the opening 1125 of the second casing 1122b. The second casing 1122b may be fixed to the first casing 1122a with a bolt. The first casing 1122a and the second casing 1122b of the casing 1122A are manufactured using carbon fiber reinforced plastic as a material, similarly to the casing 110 of the first embodiment.

The rotor 1121A has a substantially disk shape, and the rotor magnets 200 are arranged in a substantially cylindrical shape on the outer peripheral surface of the side wall thereof. The direction of the magnetic flux of the rotor magnet 200 is a radial direction. A magnet back yoke 1215 for improving the magnetic efficiency is disposed on the back surface of the rotor magnet 200 (the surface on the side wall of the rotor 1121A), and the magnet side yoke 1216 is disposed on the surface in the direction of the central axis 230. 1217 is arranged.

The rotor 1121A has a through hole 1211 through which the central shaft 230 is inserted. A bearing 240 is disposed between the inner wall surface of the through hole 1211 and the outer peripheral surface of the central shaft 230 so that the rotor 1121A can rotate about the central shaft 230.

On the bottom side of the first casing 1122a of the rotor 1121A (on the right side in FIG. 5),
A recess 1212A formed as a substantially annular groove centering on the through hole 1211 is provided. However, this recess 1212A is for weight reduction of the rotor 1121A,
It can be omitted.

On the inner circumferential surface of the first casing 1122a, the electromagnetic coil 100 (100A, 100B)
Are arranged in a substantially cylindrical shape so as to face the rotor magnet 200 of the rotor 1121 with a gap. That is, in the coreless motor 1000, the electromagnetic coil 100 functions as a stator and rotates the rotor 1121A around the central axis 230. A coil back yoke 115 for improving the magnetic efficiency is disposed between the electromagnetic coil 100 and the first casing 1122a. The rotor magnet 200 and the electromagnetic coil 1
The arrangement relationship between 00 and the coil back yoke 115 is the same as that described in the first embodiment.

On the bottom surface of the first casing 1122a, a circuit board including a position detection unit 300 (also referred to as “magnetic sensor 300”) for detecting the position of the rotor magnet 200 and a rotation control circuit for controlling the rotation of the rotor 1121A. 310 is provided. The position detection unit 300 is configured by, for example, a Hall element, and is disposed so as to correspond to the position of the orbit of the rotor magnet 200. The position detection unit 300 is disposed on the circuit board 310 or connected via a signal line.

A conductive wire branched from the conductive wire bundle 1025 is connected to the circuit board 310. Also,
The circuit board 310 is electrically connected to the electromagnetic coil 100. The circuit board 310 transmits a detection signal output from the position detection unit 300 to a control unit (not shown) that controls driving of the power generation device 1100. The rotation control circuit of the circuit board 310 supplies electric power to the electromagnetic coil 100 according to a control signal from the control unit to generate a magnetic field, and rotates the rotor 1121A.

The bottom surface of the rotor 1121A disposed in the opening 1125 (the bottom surface on the left side in FIG. 5)
It also has a function as a load connecting portion, and the rotating shaft of the external load device 1021 is fixed by a fixing bolt 1114.

The center shaft 230 is fitted with a bearing ring 241 for improving the holding ability of the center shaft 230 on the outside of the first casing 1122a (the right side in FIG. 5) and the outside of the rotor 1121A (the left side in FIG. 5). Attached. It should be noted that the bearing ring 241 shown in the drawing is represented by a side view, not a sectional view, for the sake of clarity.

As described above, also in the present embodiment, as the material of the casing 1122A, carbon fiber reinforced plastic excellent in light weight, rigidity, thermal conductivity, heat resistance, workability, productivity, price, etc. is used, and eddy current loss is achieved. Therefore, the efficiency of the coreless motor 1000 can be improved.

In this embodiment, the surface of the rotor magnet 200 in the center direction is the magnet back yoke 1215.
Since the axial surface is covered with the magnet side yokes 1216 and 1217, the central shaft 2 is the same as the central shaft 230 as the central portion of the rotor of the coreless motor 10 of the first embodiment.
30 and the rotor 1121A in which the rotor magnet 200 is disposed, a non-magnetic material such as a resin composite material such as carbon fiber reinforced plastic (CFRP) or glass fiber reinforced plastic (GFRP), or ceramics Plant fiber materials, resin materials, and the like can be used, and weight reduction is easy. In particular, if carbon fiber reinforced plastic is used, it is possible to reduce the weight compared to steel, not only to reduce the weight, but also to exceed the rigidity of steel, and to reduce eddy current loss caused by the magnetic flux from the electromagnetic coil. Less coreless motor 10
It is possible to improve the efficiency of 00.

C. Third embodiment:
FIG. 6 is a schematic cross-sectional view showing a configuration of a power generation device 1100 as the third embodiment. The power generation device 1100 includes a central shaft 230, a motor unit 1120, and a rotation mechanism unit 1130. As will be described later, the motor unit 1120 and the rotation mechanism unit 1130 are disposed so as to be fitted and integrated with each other, and the central shaft 230 passes through the centers of the integrated motor unit 1120 and the rotation mechanism unit 1130. Are arranged as follows. The central shaft 230 has a through hole 239 extending in the axial direction, and the conductive wire bundle 1025 is inserted through the through hole 239.

The motor unit 1120 includes a rotor 1121 and a casing 1122. The rotor 1121 has a substantially disk shape, and the rotor magnets 200 are arranged in a substantially cylindrical shape on the outer peripheral surface of the side wall thereof. The direction of the magnetic flux of the rotor magnet 200 is a radial direction. In addition,
A magnet back yoke 1215 for improving magnetic efficiency is disposed on the back surface of the rotor magnet 200 (surface on the side wall of the rotor 1121), and magnet side yokes 1216 and 1217 are disposed on the surface in the direction of the central axis 230. Has been placed.

The rotor 1121 has a through hole 1211 through which the central shaft 230 is inserted at the center. A bearing 240 for allowing the rotor 1121 to rotate about the central axis 230 is disposed between the inner wall surface of the through hole 1211 and the outer peripheral surface of the central axis 230.

A concave portion 1212 formed as a substantially annular groove centering on the through hole 1211 is provided on the surface of the rotor 1121 facing the rotation mechanism portion 1130. Gear teeth 1121 t are formed on the outer wall surface of the substantially cylindrical partition wall 1213 that separates the through hole 1211 and the recess 1212. Hereinafter, the partition wall 1213 having the gear teeth 1121t provided in the center of the rotor 1121 is also referred to as “rotor gear 1213”. Note that the rotor gear 1213 in this embodiment functions as a sun gear of a planetary gear.

The casing 1122 is a substantially cylindrical hollow container whose surface on the side facing the rotation mechanism portion 1130 is open, and accommodates the rotor 1121. The casing 1122 is manufactured using carbon fiber reinforced plastic as a material, similar to the casing 1122A of the second embodiment.

A through-hole 1221 for inserting the central shaft 230 is formed at the center of the bottom surface of the casing 1122 (the surface on the right side in FIG. 6). The central shaft 230 and the casing 1122 are fixedly attached to each other. A bearing ring 241 for improving the holding ability of the central shaft 230 is fitted on the outside of the casing 1122 in a fitting manner. Note that FIG.
However, for the sake of clarity, the bearing ring 241 has a schematic side surface instead of a schematic cross section.

On the inner peripheral surface of the casing 1122, the electromagnetic coils 100 (100A, 100B) are arranged in a cylindrical shape so as to face the rotor magnet 200 of the rotor 1121 with a gap. That is, in the motor unit 1120, the electromagnetic coil 100 functions as a stator and rotates the rotor 1121 about the central axis 230. A coil back yoke 115 for improving the magnetic efficiency is disposed between the electromagnetic coil 100 and the casing 1122. The rotor magnet 200, the electromagnetic coil 100, and the coil back yoke 11
The arrangement relationship 5 is the same as that described in the first embodiment.

On the bottom surface of the casing 1122, a position detection unit 30 that detects the position of the rotor magnet 200.
0 and a circuit board 310 having a rotation control circuit for controlling the rotation of the rotor 1121 is provided. The position detection unit 300 is configured by, for example, a Hall element, and is disposed so as to correspond to the position of the orbit of the rotor magnet 200. The position detection unit 300 is disposed on the circuit board 310 or connected via a signal line.

A conductive wire branched from the conductive wire bundle 1025 is connected to the circuit board 310. Also,
The circuit board 310 is electrically connected to the electromagnetic coil 100. The circuit board 310 transmits a detection signal output from the position detection unit 300 to a control unit (not shown) that controls driving of the power generation device 1100. The rotation control circuit of the circuit board 310 supplies electric power to the electromagnetic coil 100 according to a control signal from the control unit to generate a magnetic field, and rotates the rotor 1121.

The rotation mechanism unit 1130 forms a planetary gear together with the rotor gear 1213 of the rotor 1121 and functions as a speed reducer. The rotation mechanism unit 1130 includes a gear fixing unit 1131, three planetary gears 1132, and a load connection unit 1133. In FIG. 6, for convenience,
Only two planetary gears 1132 are shown.

The gear fixing portion 1131 includes an outer gear 1311 that is a substantially annular gear provided with gear teeth 1131t on the inner wall surface, and a flange portion 1312 that protrudes from the outer periphery of the outer gear 1311. The gear fixing portion 1131 includes a flange portion 1312 and a casing 11 of the motor portion 1120.
By fastening the side wall end face of 22 with a fixing bolt 1114, the motor part 11
20 is fixedly attached.

The outer gear 1311 of the gear fixing portion 1131 is accommodated in the recess 1212 of the rotor 1121. Further, three planetary gears 1132 are arranged at substantially equal intervals along the outer periphery of the rotor gear 1213 between the inner peripheral surface of the outer gear 1311 and the outer peripheral surface of the rotor gear 1213. The gear teeth 1132t of the planetary gear 1132, the gear teeth 1131t of the outer gear 1311, and the gear teeth 1121t of the rotor gear 1213 are engaged with each other, so that these three types of gears 1213, 1132, and 1311 are connected.

The load connecting portion 1133 is a substantially cylindrical member that functions as a planetary carrier. A through hole 1331 through which the central shaft 230 is inserted is provided at the center of the bottom surface of the load connection portion 1133. Between the inner wall surface of the through-hole 1331 and the outer peripheral surface of the central shaft 230, a bearing 240 for allowing the load connecting portion 1133 to rotate around the central shaft 230 is disposed.
A spacer 1115 is disposed between the bearing 240 attached to the load connecting portion 1133 and the bearing 240 attached to the rotor 1121.

Here, a substantially circular opening 1313 communicating with the inner circumferential space of the outer gear 1311 is formed at the center of the gear fixing portion 1131, and the load connecting portion 1133 is formed of the opening 1.
313. A shaft hole 1332 for rotatably holding the rotation shaft 1132 s of the planetary gear 1132 housed in the recess 1212 of the rotor 1121 is provided on the bottom surface of the load connection portion 1133 on the motor portion 1120 side (right side in FIG. 6). Is formed.

A bearing ring 241 for improving the retainability of the central shaft 230 is fitted on the outside of the load connection portion 1133 (on the left side in FIG. 6). Further, the load connection unit 113
The rotating shaft of the external load device 1021 is fixed to the bottom surface of the outer side 3 by fixing bolts 1114.

In the rotation mechanism portion 1130 having the above-described configuration, the outer gear 1311 is fixedly arranged, so that each planetary gear 1132 rotates around its own rotation shaft 1132 s (also referred to as “rotation”) as the rotor gear 1213 rotates. , And orbiting around the rotor gear 1213 (also referred to as “revolution”). As the planetary gears 1132 move around, the load connecting portion 1133 rotates, and the rotational driving force is transmitted to the load connected to the load connecting portion 1133.

As described above, also in this embodiment, as a material of the casing 1122, using carbon fiber reinforced plastic excellent in light weight, rigidity, thermal conductivity, heat resistance, workability, productivity, price, etc.
Since eddy current loss can be suppressed, the efficiency of the power generation device 1100 can be improved.

Also in this embodiment, as in the second embodiment, the central shaft 230 and the rotor magnet 200 are also used.
Non-magnetic materials such as resin composite materials such as carbon fiber reinforced plastic (CFRP) and glass fiber reinforced plastic (GFRP), ceramics, plant fiber materials, etc. A resin material or the like can be used, and the weight can be easily reduced as compared with a steel material. In particular, if carbon fiber reinforced plastic is used, not only is the weight reduced, but it has excellent rigidity exceeding that of steel, and the eddy current loss caused by the magnetic flux change of the electromagnetic coil is reduced to improve the efficiency of the power generation device 1100. It is possible to make it. Furthermore, a non-magnetic material can be used for the load connection portion 1133 as a planetary carrier, and weight reduction is easy. In particular, if carbon fiber reinforced plastic is used, the power generator can be reduced in weight, has excellent rigidity exceeding that of steel, and reduces eddy current loss caused by magnetic flux from rotor magnets and electromagnetic coils. The efficiency of 1100 can be improved. In this embodiment, the load connecting portion 1133 as a planetary carrier corresponds to the interlocking rotating portion of the rotating mechanism portion.

D. Fourth embodiment:
FIG. 7 is a schematic cross-sectional view showing a configuration of a power generating device 1100B as the fourth embodiment.
This power generation device 1100B has a configuration in which a speed reducer with two stages of planetary gears and a motor are integrated, and the following points are different from the power generation device 1100 of the third embodiment (FIG. 6).

The power generation device 1100B has a rotation mechanism unit 1130B. Rotation mechanism 1130
The B gear fixing portion 1131B is provided with first and second outer gears 1311a and 1311b which are provided to be overlapped in parallel in the axial direction of the central shaft 230. The first and second outer gears 1311a and 1311b are both housed in the recess 1212 of the rotor 1121 when the gear fixing portion 1131B is fixedly attached to the casing 1122.

The first outer gear 1311a includes the rotor gear 1213 and the first planetary gear 1
It is connected via 132a. That is, the rotor gear 1213 functions as a sun gear in the first stage planetary gear. The first planetary gear 1132a is rotatably attached to the planetary carrier 1350.

Planetary carrier 1350 is a rotating member in which a cylindrical front stage portion 1351 having a relatively large diameter and a cylindrical rear stage portion 1352 having a relatively small diameter are connected. The front stage 1351 of the planetary carrier 1350 has first and second outer gears 1311a and 1311.
A shaft hole 1354 for holding the rotating shaft 1132s of the first planetary gear 1132a is provided on the bottom surface thereof. The rear stage 1352 has a gear tooth 11 on the side wall surface.
35t is formed and disposed in the inner circumferential space of the second outer gear 1311b.

In addition, a through hole 1353 for inserting the central shaft 230 is provided at the center of the planetary carrier 1350 so as to penetrate both the front stage 1351 and the rear stage 1352. Between the through hole 1353 and the central shaft 230, a bearing 240 for allowing the planetary carrier 1350 to rotate is disposed. In addition, a spacer 1115 is appropriately disposed between the bearings 240.

A second planetary gear 1132b is disposed between the rear stage 1352 of the planetary carrier 1350 and the second outer gear 1311b. That is, the rear stage 1352 is
Functions as the sun gear in the second stage planetary gear. Second planetary gear 1132b
Is rotatably attached to a load connecting portion 1133 that functions as a planetary carrier.

In the first stage planetary gear, as the rotor gear 1213 rotates, the first planetary gear 1132a rotates (rotates) around its own rotation shaft 1132s while the rotor gear 1213 rotates.
Move around (revolve) around 13. As the first planetary gear 1132a rotates, the front stage 1351 of the planetary carrier 1350 rotates. In the second stage planetary gear, the second planetary gear 1132b rotates (rotates) about its own rotation axis 1132s as the rear stage 1352 of the planetary carrier 1350 rotates, while the planetary carrier 1350 The outer periphery of the rear stage 1352 is moved around (revolved). As the second planetary gear 1132b moves around, the load connecting portion 1133 rotates and the load connecting portion 1133 is rotated.
Rotational driving force is transmitted to the load connected to.

As described above, also in this embodiment, as a material of the casing 1122, using carbon fiber reinforced plastic excellent in light weight, rigidity, thermal conductivity, heat resistance, workability, productivity, price, etc.
Since eddy current loss can be suppressed, the efficiency of the power generation device 1100B can be improved.

Also in the present embodiment, as in the third embodiment, the central shaft 230 and the rotor magnet 200 are used.
Non-magnetic materials such as resin composite materials such as carbon fiber reinforced plastic (CFRP) and glass fiber reinforced plastic (GFRP), ceramics, plant fiber materials, etc. A resin material or the like can be used, and the weight can be easily reduced as compared with a steel material. In particular, if carbon fiber reinforced plastic is used, not only is the weight reduced, it is superior in rigidity exceeding that of steel, and eddy current loss caused by magnetic flux change of the electromagnetic coil is reduced, improving the efficiency of the power generation device 1100B. It is possible to make it. Furthermore, a non-magnetic material can be used for the planetary carrier 1350 and the load connecting portion 1133 as the interlocking rotating portion that rotates in conjunction with the rotor 1121, and the gear fixing portion 1131B, and the weight can be easily reduced. In particular, if carbon fiber reinforced plastic is used, the power generator can be reduced in weight, has excellent rigidity exceeding that of steel, and reduces eddy current loss caused by magnetic flux from rotor magnets and electromagnetic coils. The efficiency of 1100B can be improved.

E. Variations:
In addition, elements other than the elements claimed in the independent claims among the constituent elements in the above embodiment are additional elements and can be omitted as appropriate. The present invention is not limited to the above-described examples and embodiments, and can be implemented in various modes without departing from the scope of the invention.

(1) Modification 1
Although the said Example demonstrated the case where the whole casing was manufactured with carbon fiber reinforced plastics, it is not limited to this. For example, the casing portion that covers the outer peripheral portion of the coil back yoke 115 corresponding to the rotor magnet 200 may be formed of at least carbon fiber reinforced plastic. The magnetic flux from the rotor magnet 200 is set so as to go in the radial direction on the coil back yoke 115 side. Therefore, if the casing part covering at least the outer periphery of the coil back yoke 115 is formed of carbon fiber reinforced plastic, the effect of suppressing eddy current loss is great. Further, the central axis 2 of the rotor magnet 200
The casing portion covering the 30 direction side may be formed of carbon fiber reinforced plastic. That is, it is only necessary that at least a part of the casing be formed of carbon fiber reinforced plastic so as to suppress eddy current loss caused by magnetic flux from the rotor magnet.

(2) Modification 2
In the above embodiment, the coreless motor having the characteristic part of the present invention and the power generation device including the coreless motor have been described as examples. However, the present invention is not limited to the electric motor such as the coreless motor and the power generation device, and is applied to the generator. It is also possible to do.

(3) Modification 3
In addition, an electric motor or a generator having the characteristics of the present invention can be applied as an electric mobile body, an electric mobile robot, or a driving device for a medical device as described below. FIG. 8 is an explanatory view showing an electric bicycle (electric assist bicycle) that is an example of a moving body using a motor / generator as a modification of the present invention. In this bicycle 3300, a motor 3310 is provided on the front wheel, and a control circuit 3320 and a rechargeable battery 3330 are provided on a frame below the saddle. The motor 3310 assists traveling by driving the front wheels using the electric power from the rechargeable battery 3330. Further, the electric power regenerated by the motor 3310 is charged in the rechargeable battery 3330 during braking. The control circuit 3320 is a circuit that controls driving and regeneration of the motor. As the motor 3310, the above-described various coreless motors 10 can be used.

FIG. 9 is an explanatory diagram showing an example of a robot using a motor as a modification of the present invention. The robot 3400 includes first and second arms 3410 and 3420 and a motor 343.
0. The motor 3430 includes a second arm 3420 as a driven member.
Used when horizontally rotating. As the motor 3430, the various coreless motors 10 described above can be used.

FIG. 10 is an explanatory diagram showing an example of a double-armed seven-axis robot using a motor as a modification of the present invention. The double-arm 7-axis robot 3450 includes a joint motor 3460 and a gripper motor 3
470, an arm 3480, and a grip 3490. The joint motor 3460
It is arranged at a position corresponding to the shoulder joint, elbow joint, and wrist joint. The joint motor 3460
In order to move the arm 3480 and the grip portion 3490 in a three-dimensional manner, two motors are provided for each joint. In addition, the gripper motor 3470 opens and closes the gripper 3590 and causes the gripper 3490 to grip an object. In the dual-arm 7-axis robot 3450, the joint motor 346
The various coreless motors described above can be used as the zero or gripping part motor 3470.

FIG. 11 is an explanatory view showing a railway vehicle using a motor as a modification of the present invention. The railway vehicle 3500 has an electric motor 3510 and wheels 3520. The electric motor 3510 drives the wheel 3520. Furthermore, the electric motor 3510 is used as a generator when the railway vehicle 3500 is braked, and electric power is regenerated. As the electric motor 3510, the various coreless motors 10 described above can be used.

DESCRIPTION OF SYMBOLS 10 ... Coreless motor 15 ... Stator 20 ... Rotor 100 ... Electromagnetic coil 100A ... Electromagnetic coil 100B ... Electromagnetic coil 110 ... Casing 110a, 110b, 110c ... Casing 115 ... Coil back yoke 200 ... Rotor magnet 216, 217 ... Magnet side yoke 230 ... Central shaft 239 ... through hole 236 ... magnet back yoke 240 ... bearing 241 ... bearing ring 260 ... wave spring washer 271A ... carbon fiber 271B ... carbon fiber 272A ... carbon fiber bundle 272B ... carbon fiber bundle 300 ... magnetic sensor (position detector)
DESCRIPTION OF SYMBOLS 310 ... Circuit board 510 ... Standard motor 520 ... Center shaft 530 ... Coupling 1000 ... Coreless motor 1021 ... External load device 1100 ... Power generation device 1100B ... Power generation device 1114 ... Fixing bolt 1115 ... Spacer 1120 ... Motor part 1121, 1121A ... Rotor 1121t ... Gear teeth 1122, 1122A ... Casings 1122a and 1122b ... First and second casings 1125 ... Openings 1130 and 1130B ... Rotating mechanism parts 1131 and 1131B ... Gear fixing parts 1131t ... Gear teeth 1132 ... Planetary gears 1132a , 1132b ... 1st and 2nd planetary gear 1132s ... Rotating shaft 1132t ... Gear teeth 1133 ... Load connection part 1211 ... Through-hole 1212, 1212A ... Recessed part 1213 ... Bulkhead (rotor Gear)
1121t ... Gear teeth 1221 ... Through holes 1311 ... Outer gears 1311a, 1311b ... First and second outer gears 1312 ... Gutters 1313 ... Openings 131t ... Gear teeth 1331 ... Through holes 1332 ... Shaft holes 1350 ... Planetary carrier 1351 ... Front stage 1352 ... Rear stage 1353 ... Through hole 1354 ... Shaft hole 1135t ... Gear teeth 3300 ... Bicycle 3310 ... Motor 3320 ... Control circuit 3330 ... Rechargeable battery 3400 ... Robot 3410 ... First arm 3420 ... Second arm 3430 ... Motor 3450 ... Double-arm 7-axis robot 3460 ... Joint motor 3470 ... Gripping part motor 3480 ... Arm 3490 ... Gripping part 3500 ... Railway vehicle 3510 ... Electric motor 3520 ... Wheel 3590 ... Gripping part

Claims (8)

An electromechanical device,
A rotor having a cylindrical magnet back yoke, and a rotor magnet disposed in a cylindrical shape along the outer periphery of the magnet back yoke;
A stator having an air-core electromagnetic coil disposed in a cylindrical shape along the outer periphery of the rotor, and a cylindrical coil back yoke disposed on the outer periphery of the electromagnetic coil disposed in the cylindrical shape;
A casing covering the stator and the rotor;
With
An electromechanical device, wherein at least a part of the casing is formed of carbon fiber reinforced plastic. The electromechanical device according to claim 1,
The casing is an electromechanical device in which a portion covering an outer peripheral portion of the coil back yoke is formed of the carbon fiber reinforced plastic. The electromechanical device according to claim 1,
The casing is an electromechanical device formed entirely of the carbon fiber reinforced plastic. An electromechanical device according to any one of claims 1 to 3,
An electromechanical device in which a central portion of the rotor is formed of the carbon fiber reinforced plastic. An electromechanical device according to any one of claims 2 to 4,
Furthermore, an electromechanical device comprising a rotation mechanism unit housed on the inner peripheral side of the rotor and connected to the rotor. The electromechanical device according to claim 5,
The rotating mechanism section is an electromechanical device in which an interlocking rotating section that rotates in conjunction with the rotor is formed of the carbon fiber reinforced plastic.   A moving body comprising the electromechanical device according to any one of claims 1 to 6.   A robot comprising the electromechanical device according to any one of claims 1 to 6.

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